Abstract: Vehicles and related systems and methods are provided for mitigating lane departures, alternatively referred to as lane keeping assistance. One method of assisting vehicle operation involves determining a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating a steering system of the vehicle based at least in part on a current steering angle, a first difference between the control trajectory and a reference lateral trajectory for the vehicle and a second difference between the control trajectory and a lane boundary, for example, by minimizing a weighted sum of the differences. The method continues by determining a steering angle command for the vehicle based at least in part on the control trajectory and autonomously operating one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.

Abstract: A system and method are provided for controlling a vehicle. In one embodiment, a system includes: a sensor system configured to generate sensor data sensed from an environment of the vehicle; and a control module configured to, by a processor, based on the sensor data, identify a gap in a lane line on a roadway in front of the vehicle, determine at least two points within the gap, determine a curve between the at least two points, compute a correlation measure based on the curve, generate lane stitching data based on data based on the curve and an evaluation of the correlation measure, and controlling one or more components of the vehicle based on the stitching data.